摘要
介绍了一种应用于城市道路环境的智能车规划与控制系统,该系统基于预先存储在计算机中的电子地图,采用了分层次的控制结构,根据环境感知的结果进行全局定位,采用不同的控制方法和参数来满足不同路段的要求,在运行过程中始终对环境和障碍物进行检测以保证安全和舒适性,为了满足高速运行的要求,在无法更新GPS信号的时候采用了EKF算法对智能车进行定位.
A new intelligent vehicle planning and control system used in urban environments is introduced in this article. This planning and control system is running saved in on - board based on the electronic map computer. A control structure with multi - layers is used. It can localize the vehicle position in global map with results of the environments recognition system and then use different control methods and parameters to adapt relevant road segments. It always detects obstacles and en vironments in running to ensure safety and cornfort. It uses EKF method to localize vehicle position when GPS signal is not useful to ensure the intelligent vehicle can run on a high speed.
出处
《机械与电子》
2010年第3期13-17,共5页
Machinery & Electronics
关键词
智能车
全局定位
障碍物检测
EKF
intelligent vehicle
global localiza- tion
obstacle detection
EKF
